重庆市教委科学技术研究项目KJ1602909,KJ1503004;国家自然科学基金61371164;重庆电子工程职业学院智能机器人技术研究中心XJPT201705The Project of Chongqing Municipal Education CommissionKJ1602909,KJ1503004;The National Natural Science Foundation of China61371164;Intelligent Robot Techndogy Research Center of Chongqing College of Electronic EngineeringXJPT201705